Robotic Hand Model

In this model, Multibody components are used to model a dextrous hand. Each finger has there actuated degrees of freedom (except for the thumb which has only two). The 6 DOFs of the hand is also actuated (translational/angular position drivers). The model includes contact between a sphere and various parts of the hand. For contact modeling, the Palm is modeled as a box and the fingers are made of two or three cylindrical sections.